Smart medical rehabilitation device

ABSTRACT

A smart medical rehabilitation device comprises a driving unit, a linkage unit, a sensing unit and a rehabilitation evaluating unit that are mounted on a frame, wherein the linkage unit comprises a link mechanism and a slide mechanism linked thereto so that the slide mechanism can be moved together with the link mechanism, wherein the slide mechanism is driven by the driving unit to slide along the groove plate, the link mechanism is linked to move with the slide mechanism thus the link mechanism moves to the corresponding position so that the slide mechanism can assist a training object in performing lower limb rehabilitation training, and the rehabilitation evaluating unit evaluates the physical status and rehabilitation status of the training object according to the physiological information and exercise information of the same collected by the sensing unit, and adjusts the exercise frequency and the exercise duration of the training object according to the physical status in real time.

BACKGROUND OF THE INVENTION 1. Technical Field

The present invention relates to rehabilitation medicines, and moreparticularly to a smart medical rehabilitation device.

2. Description of Related Art

Proper use of mechanical rehabilitation equipment is the most effectiveway to help the handicapped, such as the disabled, the elder, and peoplewith injury and disease to reintegrate into society. Mechanicalrehabilitation equipment is thus a bridge through which the handicappedcan go back to society, and therefore is significant to social stabilityand harmony. As proven by the practice, mechanical rehabilitationequipment is beneficial to enhance effects of rehabilitation and shortenthe time required by rehabilitation.

Development of mechanical rehabilitation equipment involves thefollowing procedures: identification of the object it serves,acquirement of data, design of mechanical structure, and finalizationand formation of products. As to the product discussed herein, it isdesigned to serve people having lower-limb handicap and thus problemswith walking. In terms of acquirement of data, advanced informationprocessing technique based on images is adopted. In particular, jointsat human lower limbs are labeled, so as to facilitate extraction ofcoordinates of crucial sites from the video images, thereby allowingplotting of a gait curve reflecting human normal exercise as the basisof mechanical design. As regards mechanical design, on the basis ofavailable features of the crucial point coordinates, the types ofmechanisms, such as chain drive, rod mechanism and cam mechanism can beselected. Mechanical design algorithm may be used to further determinethe sizes of individual mechanisms. Afterward, assembling andengineering options for the shafts are considered to select suitablebushes, rolling bearings, end caps and the like. In respect offinalization and formation of products, installation of the mechanismsis planned reasonably with consideration to engineer technology andhuman behavior, and local adjustment is to be performed, such asplacement of the groove plate and the pedals on left and right sides,the altitudinal range of the saddle, the altitudinal adjustment of thehandrail and so on.

SUMMARY OF THE INVENTION

In view of the shortcomings of the prior art, the present inventionprovides a smart medical rehabilitation device, comprising a drivingunit, a linkage unit, a sensing unit and a rehabilitation evaluatingunit that are mounted on a frame. The smart medical rehabilitationdevice is characterized in that:

the linkage unit has a link mechanism and a slide mechanism linkedthereto, the slide mechanism is driven by the driving unit to slidealong a groove plate, and the link mechanism is linked with the slidemechanism thus it moves to the corresponding position so that the slidemechanism assists a training object in performing lower limbrehabilitation training, and

the rehabilitation evaluating unit evaluates the physical status andrehabilitation status of the training object according to thephysiological information and exercise information of the trainingobject collected by the sensing unit, and adjusts the exercise frequencyand exercise duration of the training object according to the physicalstatus in real time.

According to one preferred embodiment, the slide mechanism comprises aslider, a guide shaft, a connecting bulge and a groove plate, theconnecting bulge is connected to the driving unit by means of asecondary chain drive mechanism and being driven to rotate by thedriving unit, and at least two guide shafts being provided between theslider and the connecting bulge for guiding the slider to move along thegroove plate.

According to one preferred embodiment, the link mechanism comprises arocker and a link, the link being rotatably connected between the rockerand the slider, the link being shaped into a right trapezoid with pedalsfor the training object to pedal arranged at two ends of the hypotenusethereof respectively, the slider making the pedal assist the trainingobject in performing the lower limb rehabilitation training by drivingone end of the link to move along the groove plate.

According to one preferred embodiment, the connecting bulge is providedwith a linear bearing at where it contacts at least one said guideshaft, and the guide shaft performs linear movement with respect to theconnecting bulge as the slider moves along the groove plate.

According to one preferred embodiment, a fixing point of the pedal isconnected to two ends of the link through at least two connecting rodsso as to form a stable triangular structure;

the first connecting rod has its one end rotatably connected to the linkand the rocker, and has its opposite end connected to the fixing pointof the pedal;

the second connecting rod has its one end rotatably connected to thelink and the slider, and has its opposite end connected to the fixingpoint of the pedal;

the first connecting rod, the second connecting rod, and the link have alength ratio of 5.4337:1.6957:4.2743; and

the first connecting rod and the pedal have a plane included angle of 85degrees.

According to one preferred embodiment, two said linkage units aresymmetrically provided at two ends of the frame and connected to thedriving unit through the symmetrically provided secondary chain drivemechanisms, and a driving device in the driving unit drives a majorshaft whose gears at its two ends are connected to the secondary chaindrive mechanisms, respectively, to rotate through the primary chaindrive mechanism, thereby making the linkage units linked to move in thedriving frequency of the driving unit.

According to one preferred embodiment, the groove plate is centrallyprovided with a minor shaft that passes through a retaining plate of thegroove plate, wherein the minor shaft has its one end transmissivelyconnected to the secondary chain drive mechanism, and has its oppositeend connected to the connecting bulge, so that the connecting bulge isdriven by the secondary chain drive mechanism to rotate in the drivingfrequency.

According to one preferred embodiment, the sensing unit collects thephysiological information, lower limb exercise frequency, foot motiontrajectory and exercise duration of the training object, and therehabilitation evaluating unit evaluates the rehabilitation status ofthe training object according to the physiological information and lowerlimb exercise frequency of the training object, and the pressure data ofthe pedal from the feed of the training object, and

the rehabilitation evaluating unit adjusts the exercise frequency of thepedals by adjusting the driving frequency of the driving unit accordingto the physiological information of the training object.

According to one preferred embodiment, the sensing unit at leastcomprises a pressure sensor and a location information sensor arrangedon the pedal, and a physiological information sensor arranged around ahandrail on the frame.

According to one preferred embodiment, the rehabilitation evaluatingunit comprises a data-processing unit, an evaluating unit and a controlunit, wherein the data-processing unit screens valid data from exercisedata collected by the sensing unit, and sends the valid data to theevaluating unit, the evaluating unit evaluates the physiological statusand rehabilitation status of the training object based on the validdata, and the control unit adjusts the exercise frequency and exerciseduration of the training object based on the evaluation of theevaluating unit.

A limb rehabilitation training system, comprising a mechanical structuremodule and a function module, wherein the function module at leastcomprises a sensing unit, a mobile terminal and a data-processing cloudterminal;

the data-processing cloud terminal performs the first matching betweenat least pressure data and/or time data and/or travel data collected bythe sensing unit and the expert data stored in the data-processing cloudterminal, and stores results of the matching in the data-processingcloud terminal;

the data-processing cloud terminal performs the second matching betweenthe personal information data of the training object collected by themobile terminal and the results of the first matching, stores theresults of the second matching in the data-processing cloud terminal,and sends the expert data of the results of the second matching that atleast comprises duration of each training session and/or number oftraining sessions per day and/or training cycle and/or exercise mileageand/or support provided by the pedal as a recommended rehabilitationtraining scheme to the mobile terminal.

According to one preferred embodiment, the first matching is thecorrelation matching between the expert data stored in thedata-processing cloud terminal and the pressure data collected by thesensing unit and/or the correlation matching between the expert datastored in the data-processing cloud terminal and the time data collectedby the sensing unit, and/or the correlation matching between the expertdata stored in the data-processing cloud terminal and the travel datacollected by the sensing unit, and results of the matching are stored inthe data-processing cloud terminal.

According to one preferred embodiment, the second matching is thematching between the results of the first matching stored in thedata-processing cloud terminal and the personal information dataincluding at least the age, body height and body weight of the trainingobject collected by the mobile terminal, and results of the secondmatching are stored in the data-processing cloud terminal and sent tothe mobile terminal as the recommended rehabilitation training scheme.

According to one preferred embodiment, the mobile terminal sends thepressure data, time data and travel data collected by the sensing unitto the data-processing cloud terminal for data update, and displaysvariation of the pressure data, time data and travel data to thetraining object by means of a list or a graph or diagram.

According to one preferred embodiment, the data-processing cloudterminal prepares a new recommended rehabilitation training schemeaccording to the updated pressure data, time data and/or travel data.

According to one preferred embodiment, the mobile terminal controls amotor in the mechanical structure module of the rehabilitation trainingsystem according to the recommended rehabilitation training scheme itreceives, and affects the exercise mileage of the training object byadjusting the speed of the motor; and

the mobile terminal displays the recommendations about the duration ofeach training session, the number of training sessions per day, thetraining cycle, the exercise mileage and the support provided by thepedal in the recommended rehabilitation training scheme to the trainingobject by means of voice or a list.

According to one preferred embodiment, the expert data comprise arehabilitation training program associated with the physiological dataand/or body function data of the training object,

the physiological data include the basic data of the training objectsuch as body height, body weight and age, and the body function datainclude the support provided by the pedal, the exercise duration and theexercise mileage data for every exercise training course the trainingobject has taken.

According to one preferred embodiment, the sensing unit comprises apressure sensor, a time sensor, a velocity sensor, an amplificationcircuit, an A/D conversion circuit and a single-chip microcomputer,

wherein the signal data collected by the pressure sensor, the timesensor and the velocity sensor is amplified by the amplification circuitand transmitted to the single-chip microcomputer through the A/Dconversion circuit, and then the single-chip microcomputer performspreliminary processing on the data.

According to one preferred embodiment, the data-processing cloudterminal includes a data-processing unit and a rehabilitation database,wherein the data-processing unit serves to perform correlation matchingon the data, and the rehabilitation database serves to store the dataincluding the expert data, the data collected by the sensing unit, thedata collected by the mobile terminal and the data of matching resultsgenerated during data matching.

According to one preferred embodiment, the mechanical structure moduleat least comprises: a groove plate for supporting a cam, a pedal forsupporting the weight of the training object and driving the lower limbof the training object to move, a link for transmitting kinetic energyto the pedal, a rocker for supporting the link, a connecting bulge fordriving a guide shaft to rotate, a linear bearing for supporting theguide shaft, the guide shaft for driving a slider to rotate, the sliderfor driving the link to operate, an axis pin for connecting the link andthe slider, and a cam roller for making the slider move along a groovetrajectory of the groove plate;

the pedal and the link are rigidly connected, while the link is hingedto the first rocker and the axis pin, respectively, the rocker is hingedto the frame, the connecting bulge is provided with two parallelcolumnar through holes, the linear bearing is received in the columnarthrough hole, the guide shaft passes through the linear bearing, theguide shaft and the slider are rigidly connected to each other, and thecam roller is rigidly connected to the connecting bulge through the axispin;

the cam roller performs curved movement along the groove plate, as thecurvature radius changes, the guide shaft performs linear movement withrespect to the connecting bulge, the the linear bearing is arranged inthe connecting bulge for reducing mechanical wear between the guideshaft and the connecting bulge, thereby improving the service life.

The present invention has the following beneficial technical effects:

(1) The disclosure is developed using human normal exercise datacollected in early experiments, and thus is highly adaptive andscientific. A patient can take rehabilitation training simply by walkingfollowing a human normal walking curve, so the rehabilitating effect canbe improved and time required by rehabilitation can be reduced;

(2) The disclosure has a relatively extensive market prospect. Bymaximizing the use of standard parts, optimizing the stability of theframe and properly selecting engineering options for the shafts, theoverall system is advantageously simple and reliable. It uses rollingbearings, linear bearings and cam rollers to minimize part wear andthereby enhancing the mechanical endurance of the product;

(3) The disclosure incorporates ergonomic consideration to optimize themechanisms in terms of size, and altitudinal adjustment of the saddle aswell as settings for the handrail, so as to ensure the rehabilitatingeffect while improving comfort in use; and

(4) The disclosure can be used alone to assist people with lower limbproblems in performing rehabilitation training, and can also work withother mechanical rehabilitation equipment to provide patients with morerehabilitation options.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an overall structural drawing of the smart medical device ofthe present invention;

FIG. 2 is a structural schematic drawing showing a linkage unit in thesmart medical device of the present invention;

FIG. 3 is a cross-sectional view of a slide mechanism in the smartmedical device of the present invention;

FIG. 4 is a structural drawing of a slide mechanism in the smart medicaldevice of the present invention;

FIG. 5 is a schematic drawing showing a frame and a saddle of the smartmedical device;

FIG. 6 is another structural drawing of the linkage unit of the smartmedical device;

FIG. 7 is a diagram showing connection between function modules of thepresent invention; and

FIG. 8 is a connection management diagram of a sensing unit of the smartmedical device.

Reference numerals  1: frame  2: groove plate  3: minor shaft assembly 4: the secondary chain drive mechanism  5: the primary chain drivemechanism  6: driving device  7: major shaft  8: pedal  9: link 10:rocker 11: guide shaft assembly 12: handrail 13: saddle 14: connectingbulge 15: linear bearing 16: guide shaft 17: slider 18: axis pin 19: camroller 20: end cap 21: minor shaft 22: bush 23: rolling bearing EG: thefirst connecting rod DG: the second connecting rod GN: the thirdconnecting rod

DETAILED DESCRIPTION OF THE INVENTION

The invention as well as a preferred mode of use, further objectives andadvantages thereof will be best understood by reference to the followingdetailed description of illustrative embodiments when read inconjunction with the accompanying drawings.

The objective of the present invention is to help patients havingproblems at their lower limbs and having difficulty in walking torehabilitate themselves through physical training, thereby providingretarding exacerbation of any negative physical conditions. Thedisclosed device can also be used with other mechanical rehabilitationequipment to provide patients with more rehabilitation options.

Embodiment 1

As shown in FIG. 1, a medical rehabilitation device comprises a drivingunit and a linkage unit mounted on a frame. The frame 1 is astructurally symmetrical stand formed by a plurality of bars connectedtogether. The frame 1 comprises a rectangular support and a U-shapedsupport perpendicular to and connected to the rectangular support. TheU-shaped support is located at the middle part of the rectangularsupport. The U-shaped support comprises two vertical rods perpendicularto the rectangular support and a horizontal rod parallel to the planewhere the rectangular support rests on. The horizontal rod is connectedbetween the two vertical rods. Two oblique rods are connected betweenthe vertical rods of the U-shaped support and the correspondingrectangular support, so that the two oblique rods, the two verticalrods, and the rectangular support jointly form two stable triangularstructures at two sides of the frame, respectively. The frame 1 is madeof industrial aluminum profiles. In particular, plural industrialaluminum profiles are welded and screwed together. Its section assemblyallows length adjustment of aluminum profiles and endows the productwith high stability and good operas ability.

Two said linkage units are symmetrically provided at two sides of theframe and connected to the driving unit through the symmetricallyarranged secondary chain drive mechanisms, and a driving device in thedriving unit drives a major shaft whose gears at its two ends areconnected to the secondary chain drive mechanisms, respectively, torotate through the primary chain drive mechanism, thereby making thelinkage units linked to move in the driving frequency of the drivingunit.

The linkage units are located at two sides of the U-shaped support thatis at the middle part of the frame. The linkage units comprise a firstlinkage unit arranged at one side of the frame 1, and a second linkageunit arranged at the opposite side of the frame. Since the first linkageunit and the second linkage unit are structurally identical, they arehereinafter each referred to as the linkage unit for succinctness.

As shown in FIG. 2, the linkage unit comprises a link mechanism and aslide mechanism linked thereto so that the slide mechanism can be movedtogether with the link mechanism. The link mechanism comprises a rocker10 and a link 9. The rocker 10 has its one end rotatably connected to avertical rod of the U-shaped support through a pivot, and has itsopposite end rotatably connected to the link 9. The link 9 is rotatablyconnected between the rocker 10 and the slider 17. The link 9 is in theshape of a right trapezoid. The hypotenuse of the right trapezoid hasits one end connected to one end of the rocker 10 and the opposite endconnected to the slider 17, wherein one end of the hypotenuse thatconnects to the baseline is rotatably connected to one end of the rocker10, the other end of the hypotenuse that connects to the topline isrotatably connected to the slider 17. The height between the topline andthe baseline is provided with a pedal 8 for a training object to pedal.

Preferably, as shown in FIG. 6, the pedal 8 has its fixing pointconnected to two ends of the link 9 through at least two connecting rodsto form a stable triangular structure. The link 9 is hinged to therocker 10 and the axis pin 18 on the slider 17. The rocker 10 isconnected to the frame 1 by means of hinge. The fixing point of thepedal 8 is connected to two ends of the link 9 through the firstconnecting rod EG and the second connecting rod DG; so as to form astable triangular structure. Meanwhile, the link 9 is connected to theguide shaft assembly 11. The guide shaft assembly 11 is connected to thelink 9 and the minor shaft assembly 3, respectively. The firstconnecting rod EG has its one end rotatably connected to the link 9 andthe rocker 10, and has its opposite end connected to the fixing point ofthe pedal 8. The second connecting rod DG has its one end rotatablyconnected to the link 9 and the slider 17, and has its opposite endconnected to the fixing point of the pedal 8. The first connecting rodEG, the second connecting rod DG, and the link 9 have a length ratio of5.4337:1.6957:4.2743. The first connecting rod EG and the pedal 8 have aplane included angle of 85 degrees.

Preferably, the fixing point of the pedal 8 is connected to Point N atthe middle part of the link 9 through the third connecting rod GN. Thethird connecting rod GN serves to evenly distribute force acting on twoends of the link 9, thereby extending the service life of the link 9.

The slide mechanism comprises a slider 17, a guide shaft 16, aconnecting bulge 14, and a groove plate 2. As shown in FIG. 3, thegroove plate 2 is fixed to the frame 1 by means of screws and providedwith a groove C on the inner side thereof. The groove plate 2 designedaccording to statistics of human exercise physiology to meet the regularpattern of human lower limb movement, thereby helping training objectsrecover through comfortable training.

The retaining plate has its one end fixed to a vertical rod of theU-shaped support, and has its opposite end fixed to a retaining platesupport that is parallel to the vertical rod. The retaining plate isprovided with a minor shaft assembly 3 that positionally corresponds tothe center of the groove plate 2 and passes through the retaining platefor transmission of kinetic energy. The minor shaft assembly 3 comprisesa minor shaft 21 and a rolling bearing 23. Preferably, the groove plate2 is provided with a columnar through hole. The rolling bearing 23 isreceived in the through hole of the groove plate 2, and is rigidlyconnected to the groove plate 2. The minor shaft 21 passes through therolling bearing 23. The minor shaft 21 is rotatably connected to thecenter of the groove plate 2 through the rolling bearing 23. The minorshaft 21 has its one end transmissively connected to the secondary chaindrive mechanism 4, and has its opposite end fixedly connected to theconnecting bulge 14. The connecting bulge 14 is driven by the secondarychain drive mechanism 4 to rotate in the driving frequency. The minorshaft 21 has its two ends each provided with an end cap 20 forprotection. A bush 22 is mounted around and protects the minor shaft 21at its segment that is exposed to the air. Preferably, the rollingbearing 23 in the minor shaft assembly 3 has its two ends fixed to thebush 22 by means of shoulders. The minor shaft 21 has its two endscapped with the end cap 20 for axial reinforcement.

As shown in FIG. 4, the slider 17 at its one end contacting the grooveplate 2 is provided with a cam roller 19. The slider 17 slides along thegroove plate 2 through the cam roller 19. The slider 17 has its oppositeend provided with an axis pin 18 that is rotatably connected to thehypotenuse of the link 9. The slider 17 is connected to the link 9through the axis pin 18. At least two guide shafts 16 are arrangedbetween the slider 17 and the connecting bulge 14 for guiding the slider17 to move along the groove plate 2. The connecting bulge 14 at where itcontacts at least one of the guide shafts 16 is provided with a linearbearing 15. Preferably, the connecting bulge 14 is provided with twocolumnar through holes that are parallel to each other, and the linearbearings 15 are received in the columnar through holes. The guide shafts16 pass through the linear bearings 15. The guide shafts 16 and theslider 17 are rigidly connected. The cam roller 19 performs curvedmovement along the groove plate 2. As the curvature radius varies, theguide shafts 16 perform linear movement with respect to the connectingbulge 14 as the slider 17 moves along the groove plate 2, therebyreducing part wear and improving mechanical endurance. That is, theconnecting bulge 14 is connected to the driving unit through thesecondary chain drive mechanism 4 and rotates when being driven by thedriving unit. The slider 17 makes the pedals 8 guide a training objectto perform lower limb rehabilitation training by driving one end of thelink 9 to move along the groove plate 2. Preferably, the number of guideshafts 16 is not limited to two, and may be three or more.

The driving unit is located at the front end of the frame 1. The drivingunit comprises a motor 6, a major shaft 7, a primary chain drivemechanism 5 and a secondary chain drive mechanism 4. The connectingbulge 14 is connected to one end of the secondary chain drive mechanism4 through the minor shaft 21. The secondary chain drive mechanism 4 hasits opposite end transmissively connected to one end of the major shaft7. Preferably, the primary chain drive mechanism 5 and the secondarychain drive mechanism 4 are both drive chains. The major shaft 7 has itstwo ends each provided with a gear mechanism engaged with the drivechain. Alternatively, the major shaft 7 is fixed to the frame 1 throughtwo rolling bearings. The major shaft 7 has its two ends linked throughthe secondary chain drive mechanism, so as to transmit the kineticenergy it receives to the minor shaft assemblies at the two sides of theframe 1. Preferably, the major shaft 7 is centrally provided with a gearmechanism that is trasmissively connected to the primary chain drivemechanism 5. The primary chain drive mechanism 5 has its two endsconnected to the gear mechanism and the motor 6, respectively. The motor6 transmits its kinetic energy to the major shaft 7 through the primarychain drive mechanism 5. The motor 6 is a servo motor that can performadjustment according to feedback. The motor 6 provides power to driveforward and rearward rotation. The secondary chain drive mechanism 4 andthe major shaft 7 split and deliver the power to linkage units at twosides of the frame for improved precision and transmission efficiency.The exercise frequency of the linkage unit is controlled by the drivingunit and is consistent with the driving frequency of the driving unit.

As shown in FIG. 5, the frame 1 is provided with a saddle 13 that isadjustable in terms of altitude. The saddle 13 is located at one end ofthe frame 1, and is connected to one prop of the frame 1 whilepositionally corresponding to the driving unit. The saddle 13 ispositioned mainly by screw bolts engaged with holes formed on industrialaluminum profiles at different altitudes and holes at the lower end ofthe saddle 13, so as to improve the body comfort while ensuringrehabilitation results. In use, the screw bolts are screwed into theholes at different altitudes according to body comfort, and the altitudeof the saddle altitude is thus set. The saddle is located according tohuman physiological features, so as to allow training objects to sitthereon comfortably and stably. The horizontal rod of the U-shaped frameof the frame 1 acts as a handrail 12 and is provided with a frictiondevice, which prevents a training object from losing his/her balance bycontacting the metal directly, thereby helping the training object toget his/her limbs stable and balanced. For example, a sleeve with agrained surface may be mounted around the handrail 12. A training objectsitting in the saddle 13 can thus has his/her upper limbs rested on thehandrail 12 to keep his/her body balance. The training object at thesame time can place his/her lower limbs on the corresponding pedals 8,respectively, and then get ready to perform lower limb rehabilitationtraining in the driving frequency of the driving unit. After thetraining object sits down with his/her lower limbs placed on the pedalsand hands on the handrail 12, he/she can turns on the switch to activatethe motor 6. The motor 6 provides forward and rearward rotational powerwithin a predetermined angular range, so as to provide power to thelinkage units and drive the linkage units to make the pedals 8 movealong ergonomically designed foot motion trajectories.

Preferably, the pedals in the two units are a first pedal and a secondpedal. The first pedal and the second pedal are designed to move alongthe same rotational direction. The first pedal and the second pedalalways have a constant positional difference therebetween. For example,the first pedal and the second pedal are always 180 degrees away fromeach other. The driving frequency of the motor 6 is adjusted accordingto the exercise frequency fed back by the rehabilitation evaluatingunit.

The present invention provides a smart medical rehabilitation device,which comprises a driving unit, a linkage unit, a sensing unit and arehabilitation evaluating unit all mounted on a frame.

The sensing unit collects exercise data generated when a training objecttakes exercise. The exercise data include the foot sole loading data,the lower limb exercise frequency, the exercise duration, thephysiological information data and the foot motion trajectory of thetraining object. The physiological information data include thevariation in physiological parameters such as body weight, heart beatfrequency, blood pressure, body temperature, pulse, breath frequency andso on.

The rehabilitation evaluating unit evaluates the rehabilitation statusof the training object according to the physiological information, thelower limb exercise frequency of the same, and the pressure data of thepedals from the feet of the training object.

As shown in FIG. 8, the sensing unit at least comprises a pressuresensor and a location information sensor arranged on the pedal, and aphysiological information sensor arranged around a handrail on theframe.

Preferably, the pedal 8 is provided with at least one pressure sensor.The pressure sensor monitors the foot sole loading of the trainingobject, for measuring the size of the support the pedal gives to thetraining object. The location information sensor monitors the movingtrajectory of the pedal 8, thereby monitoring the foot motion trajectoryand exercise frequency of the training object. The handrail 12 isprovided with at least one physiological information sensor, which maybe a heart rate sensor, a body temperature sensor, or a blood pressuresensor. Preferably, the sensing unit further comprises a pulse sensorinstalled on a wrist band.

In the process where a training object performs lower limbrehabilitation training, the sensing unit collects the body weight, theblood pressure, the heart beat, the temperature, the exercise frequency,the foot motion trajectory and other relevant data of the trainingobject. Specifically, when the training object has his/her feet placedon the pedals 8 and stands stably with the support of the handrail, thepressure sensor on the pedal 8 records the body weight of the trainingobject. After the training object sits down, the pressure sensor on thepedal 8 monitors pressure variation between the training object and thepedal 8 throughout the training of the training object. The locationinformation sensor on the pedal monitors the foot motion trajectory andexercise frequency of the training object. When deviation is observed inthe foot motion trajectory, it means that some mechanism(s) in thelinkage unit has/have loosened connection or failure. The temperaturesensor, the heart rate sensor and the blood pressure sensor on thehandrail 12 monitor the body temperature variation, the heart beatvariation and the blood pressure variation of the training object. Thepressure sensor on the saddle 13 monitors the bottom pressure variationof the training objects after he/she sits down.

The rehabilitation evaluating unit adjusts the exercise frequency of thepedals based on the physiological information of the training object byadjusting the driving frequency of the driving unit, so as to ensureoptimal rehabilitating effects.

The rehabilitation evaluating unit may be installed on either the frame1 or the handrail 12, and performs data transmission in a wired orwireless manner. Alternatively, it may be installed in the smart mobileterminal to perform data transmission wirelessly. The rehabilitationevaluating unit stores therein foot motion trajectories and exercisefrequencies obtained through scientific computation. When a trainingobject performs his/her lower limb rehabilitation training with thedevice for the first time, the rehabilitation evaluating unit receivesthe exercise frequency, the foot motion trajectories and thephysiological information data transmitted by the sensing unit, andcompares the physiological information to the standard physiologicalinformation data corresponding to the exercise frequency. If thedifference between the physiological information data and the standardphysiological information data does not exceed the predeterminedtolerance, the exercise frequency of the training object is notadjusted. If the difference between the physiological information dataand the standard physiological information data is great, therehabilitation evaluating unit sends a command to the driving unit toadjust the driving frequency of the motor 6, thereby indirectlyadjusting the exercise frequency of the training object, so as to matchthe exercise frequency with the physiological information data, therebyproviding the training object with optimal effects of his/her lower limbrehabilitation training.

In one instance, the training object belongs to a special group, such asa group of children. The rehabilitation evaluating unit adjusts thelower limb exercise frequency of the training object based on thepressure data related to the training object standing on the pedal 8 andthe physiological information data of the training object, therebyoptimizing lower limb rehabilitation training for children or for otherspecial training object groups.

In one instance, the training object is a robot. The rehabilitationevaluating unit readjusts the exercise frequency and saddle altitudebased on the pressure data related to the training object standing onthe pedal 8 and the foot motion trajectory. When the training object issitting on the saddle, and the pressure observed by the pressure sensorof the pedal 8 vanishes at the same time, it is proved that the smallestdistance between the saddle and the pedal exceeds the lower limb lengthof the training object. The rehabilitation evaluating unit thus adjuststhe distance among the saddle 13, the handrail 12 and the pedals 8,until all the data and exercise frequency throughout the currentexercise session of the training object enter the normal range.

Preferably, the rehabilitation evaluating unit evaluates the health ofthe training object based on the physiological information data andexercise frequency of the training object collected by the sensing unit.The exercise frequency and the exercise duration are adjusted based onthe physiological information data of the training object. Where thephysiological information data of the training object show abnormality,the rehabilitation evaluating unit stops guiding the training object toperform lower limb rehabilitation training, and returns the trainingobject to a standard sitting posture. Preferably, the rehabilitationevaluating unit comprises an alarm unit. When the physiologicalinformation data of the training object show abnormality, the alarm unitgives out alarm information in the form of acoustic alarms, light alarmsand/or any combination thereof.

Preferably, the rehabilitation evaluating unit comprises adata-processing unit, an evaluating unit and a control unit, wherein thedata-processing unit screens valid data from exercise data collected bythe sensing unit, and sends the valid data to the evaluating unit, theevaluating unit evaluates the physiological status and rehabilitationstatus of the training object based on the valid data, and the controlunit adjusts the exercise frequency and exercise duration of thetraining object based on evaluation of the evaluating unit.

The data-processing unit screens valid data from the exercise-relateddata collected by the sensing unit, and sends the valid data to theevaluating unit. The data collected by the various sensors of thesensing unit are not necessarily valid, and may include some error dataoutside the tolerance. The data-processing unit screens the datatransmitted by the data acquiring unit, and removes those outside thetolerance, so as to get accurate valid data and send them to theevaluating unit.

The evaluating unit evaluates the physical status and shoulder movementcurve of the training object based on the valid data. The evaluatingunit evaluates the physical status of the training object based on thevalid data it receives. For example, if the training object has anincreasing heart beat frequency during his/her standing training and itturns out that his/her heart beat frequency exceeds a normal range, theevaluating unit instructs the control unit to decrease the exercisefrequency, thereby allowing the heart beat frequency of the trainingobject to come back to the normal frequency. The evaluating unit storestherein physiological information data obtained through scientificcomputation and exercise frequencies matching with them. When a trainingobject performs his/her lower limb rehabilitation training with thedisclosed device for the first time, the evaluating unit compares thephysiological information data of the training object to the storedstandard physiological information data. If the difference between thephysiological information data and the standard physiologicalinformation data does not exceed the tolerance, the exercise frequencyof the training object is not adjusted. If the difference between thephysiological information data and the standard physiologicalinformation data is great, the rehabilitation evaluating unit sends acommand to the driving unit to adjust the driving frequency of the motor6, thereby indirectly adjusting the exercise frequency of the trainingobject, so as to match the exercise frequency with the physiologicalinformation data, thereby providing the training object with optimaleffects of his/her lower limb rehabilitation training.

The control unit is connected with the driving unit and the linkageunits. The control unit corrects the exercise frequency, the exerciseduration of the training object, and the position of the saddle 13 basedon the evaluation made by the evaluating unit.

Preferably, the rehabilitation evaluating unit is an electronic module,and may be located arbitrarily on the frame 1. Preferably, thedata-processing unit and the evaluating unit in the rehabilitationevaluating unit are installed in the smart mobile terminal. The controlunit is located arbitrarily on the frame 1. The data acquiring unitsends the collected data to the data-processing unit on the smart mobileterminal in a wireless manner. For example, the data acquiring unitsends the data to the data-processing unit through wireless transmissionsuch as Bluetooth, WiFi, ZigBee, iBecon or the like. The evaluating unit502 performs evaluation based on the valid data sent by thedata-processing unit, and sends modulating commands to the control unitwirelessly. For example, the evaluating unit sends the data to thecontrol unit through wireless transmission such as Bluetooth, WiFi,ZigBee, iBecon or the like.

According to one preferred aspect, the pressure sensor, temperaturesensor, heart rate sensor, blood pressure sensor, and breath frequencysensor of the data acquiring unit are provided with an EnOcean modulethat provides energy. The EnOcean module converts the thermal energy andmechanical energy of the training object into electric power to powerthe sensors.

Embodiment 2

The present embodiment further explains Embodiment 1, and what has beendiscussed related to Embodiment 1 is omitted herein.

As shown in FIG. 6, the connecting bulge A corresponds to the connectingbulge 14. In the drawing, the rod B corresponds to guide shaft 16, andthe slider D corresponds to slider 17. In the drawing, the groove Ccorresponds to the groove structure on the groove plate. The groove C isa loop-like groove with a roughly triangular structure. The groove C isdesigned according to foot movement curve information collected inexperiments and conforms with sports engineering trajectory related tohuman walk. The connecting bulge A is driven by the minor shaft torotate anticlockwise. The slider D moves along the groove C based on theconnecting bulge A in response to the kinetic energy transmitted by theguide shaft B. As the curvature radius varies, the rod B moves linearlywith respect to the connecting bulge A. The slider D when rotatingdrives the rod ED it is hinged to perform reciprocating movement alongthe groove C, thereby making the pedal 8 perform reciprocating movement.

One end of the rocker 10 and a vertical rod of the U-shaped support arerotatably fixed to the Point F at the center of the hinge. The oppositeend of the rocker 10 is rotatably connected to the one end of the link 9at Point E. The opposite end of the link 9 is rotatably connected to theslider 17 at Point C.

The auxiliary pivot point of the crank DB of the groove plate 2 isconnected to the connecting bulge 14 at Point A. The slider 17 and thecam roller 19 are connected at Point D. The pedal 8 and the link 9 arefixedly connected at Point G. The dimensional proportion of the linkageunit is herein described with reference to the linkage unit shown inFIG. 6. Assuming that O is the origin, and the horizontal directionrepresents the X axis, while the vertical direction represents Y axis, aCartesian coordinate system is so established. The fixed center Point Ahas its coordinates as (9.0000, 2.8593), and Point F has its coordinatesas (7.2664, 8.6082). The rocker length EF=2.3523 cm. The link lengthDE=4.2743 cm. The terminal E of the rocker 10 is away from the pedalfixing point G in a distance of EG=5.4337 cm. The center of the camroller 19 is away from the fixing point of the pedal in a distance ofDG=1.6957 cm. The pedal 8 is fixed to the link 9 so that the plane wherethe pedal 8 rests on and the line EG jointly include an angle of 85degrees. The orbit coordinates of the groove plate 2 at least comprisenine point coordinates. In addition to the nine sets of coordinates fordefining the orbit coordinates of the groove plate 2 of the presentinvention easily, there are some more coordinate points that facilitatesmoother movement of the cam roller 19 among the nine coordinate points.Since the trajectory of the groove plate 2 is not highly demanded interms of precision, rounding off and fine tuning are allowable to ensuresmooth movement of the cam roller 19 along the groove plate 2. Thegroove plate 2 is preferably defined with nine coordinate points, asshown in Table 1.

TABLE 1 Coordinate number 1 2 3 4 5 6 7 8 9 X (cm) 10.0966 9.8138 9.40729.1915 8.9212 8.6629 7.9973 7.5225 8.2912 Y (cm) 2.6041 3.6807 4.08184.0651 3.8782 3.6400 3.0327 2.4986 2.4346

Since individual training objects are similar yet different in, forexample, the body height, the upper limb length and the lower limblength, the orbit coordinates of the groove plate 2 may be slightlydifferent from the orbit coordinates shown in the present invention,thereby allowing the disclosed smart medical device to adapt todifferent individuals.

In the present invention, the linkage units may be scaled up or downaccording to the structure of the linkage units shown in FIG. 6, andinstalled on smart medical devices of different sizes, so as to meetdifferent training/medical needs of adults, children and robots ofvarious sizes.

Embodiment 3

The present embodiment further improves Embodiments 1 and 2, and whathas been discussed related to Embodiments 1 and 2 is omitted herein.

The present embodiment provides a rehabilitation training system. Asshown in FIG. 7, the rehabilitation training system comprises amechanical function module composed of a sensing unit, a mobileterminal, and a data-processing cloud terminal. The data-processingcloud terminal includes a data-processing unit and a rehabilitationdatabase, in which the data-processing unit serves to performcorrelation matching on the data, and the rehabilitation database servesto store the data including the expert data, the data collected by thesensing unit, the data collected by the mobile terminal and data ofmatching results generated during data matching.

During a rehabilitation training of a training object, at least one setof monitoring data of the training object collected by the sensing unitis sent to the data-processing cloud terminal through the mobileterminal, and the personal information data of the training objectcollected by the mobile terminal are sent to the data-processing cloudterminal, so that the data-processing cloud terminal performs dataprocessing analysis on the monitoring data and the personal informationdata it receives, and accordingly provides a recommended scheme for thesubsequent training of the training object. The present inventionthereby provides training object-specific training. In addition,human-machine interaction is established by the sensing unit, the mobileterminal and the data-processing cloud terminal, thereby providing arehabilitation training program to a training object in view of his/herrehabilitation status and allowing real-time adjustment.

As shown in FIG. 8, the sensing unit comprises a pressure sensor, a timesensor, a velocity sensor, an amplification circuit, an A/D conversioncircuit, and a single-chip microcomputer.

The velocity sensor is installed on the joint between the pedal and therocker at one side of the frame 1, for measuring directional variationin the movement of the pedal. Every time the pedal completes a round ofdirectional plus-minus variation, a count is generated. The exercisemileage of the training object can thus be calculated through the countsand the travel of a single reciprocating movement of the pedal. Thepressure sensor may be a pressure sensor LLB450 from Futek, the US, witha range of 13344 N and a rated output of 2 mV/V. The sensor haselectrical signal it collects amplified by the amplification circuit andtransmits the signal to the A/D conversion circuit. The signal is theninput to the single-chip microcomputer for preliminary processing, andthe single-chip microcomputer sends the processed data to the mobileterminal.

The sensing unit collects pressure data about the pressure the trainingobject applies to the pedals using the pressure sensor. The sensing unitcollects time data about how long the training object takes the trainingusing the time sensor. The sensing unit collects mileage data aboutmileage corresponding to the lower limb exercise of the training objectusing the velocity sensor. The data collected by these sensors aretransmitted to the single-chip microcomputer through the amplificationcircuit and the A/D conversion circuit.

The single-chip microcomputer conducts preliminary analysis of thecollected data. Then the single-chip microcomputer sends thepreliminarily analyzed data to the mobile terminal. The training objectthus can anytime check the exercise data collected by the sensing unitduring his/her training at the exercise terminal. The mobile terminalsends the pressure data, time data and travel data collected by thesensing unit to the data-processing cloud terminal for data update, anddisplays variation of the pressure data, time data, and travel data tothe training object by means of a list or a graph or diagram.

The mobile terminal receives the monitoring data of the training objectcollected by the sensing unit, collects the initial personal informationdata of the training object at the same time, and sends the monitoringdata and the personal information data to the data-processing cloudterminal. The data-processing cloud terminal stores the data it receivesinto the rehabilitation database of the training object, and updates thehistorical data accordingly. The data-processing unit analyzes thephysical data of the training object based on the updated rehabilitationinformation data, and provides further feedback about exerciserecommendation.

The mobile terminal can also receive the feedback information from thedata-processing cloud terminal and controls the training mechanism ofthe rehabilitation training system using the single-chip microcomputeraccording to the feedback data, thereby guiding the training object tofinish the training. Preferably, the mobile terminal controls the motor6 of the rehabilitation training system in terms of speed according tothe feedback data using the single-chip microcomputer, therebycontrolling the exercise mileage of the training object and helping themfinish the training. The feedback information comprises recommendationfor duration of each exercise session for the specific training object,recommendation for exercise cycle, recommendation for exercise mileage,and recommendation for whether the legs of the training object can beargreater pressure or whether the training object needs to stand up fromthe saddle 13 and do exercise with only support from his/her own legsand the handrail. The mobile terminal displays the recommendations aboutthe duration of each training session, the number of training sessionsper day, the training cycle, the exercise mileage and the supportprovided by the pedal in the recommended rehabilitation training schemeto the training object by means of voice or a list.

The training object may use the mobile terminal to adjust the trainingprogram provided by data-processing cloud terminal according to his/herown properties, thereby setting his/her personalized training program.The data-processing cloud terminal collects the monitoring datatransmitted by the mobile terminal and collected by the sensing unit andthe personal information data collected by the mobile terminal, andprocesses and analyzes the data, thereby identifying at which trainingstage the recovery of the training object is. Then it feeds the trainingprogram of that stage back to the mobile terminal.

In the present invention, the data processing includes three parts. Thefirst part involves recommending a rehabilitation training program basedon the expert data stored in the rehabilitation database. Therehabilitation training program is a result of two-stage matchingcorrelation performed by the data-processing cloud terminal between thedata collected by the sensing unit/the data collected by the mobileterminal and the expert data. The first matching is the correlationmatching between the expert data stored in the data-processing cloudterminal and the pressure data collected by the sensing unit and/or thecorrelation matching between the expert data stored in thedata-processing cloud terminal and the time data collected by thesensing unit, and/or the correlation matching between the expert datastored in the data-processing cloud terminal and the travel datacollected by the sensing unit, and results of the matching are stored inthe data-processing cloud terminal. The second matching is the matchingbetween the results of the first matching stored in the data-processingcloud terminal and the personal information data including at least theage, body height, and body weight of the training object collected bythe mobile terminal, and results of the second matching are stored inthe data-processing cloud terminal and sent to the mobile terminal asthe recommended rehabilitation training scheme. The expert data comprisea rehabilitation training program associated with the physiological dataand/or body function data of the training object. The physiological datainclude the basic data of the training object such as body height, bodyweight, and age. And the body function data include support provided bythe pedal, exercise duration and exercise mileage data for everyexercise training course the training object has taken.

The data-processing cloud terminal comprises a data-processing unit. Thedata-processing unit processes the monitoring data of the trainingobject and personal information transmitted by the mobile terminal tonormalize the monitoring data and the personal information data intobasic physiological data that include the body height, the body weightand the age of the training object, and the body function data thatinclude the support provided by the device, the exercise duration andthe exercise mileage for each exercise training session of the trainingobject. The rehabilitation database of the data-processing cloudterminal defines which training stage the recovery of the trainingobject is depending on the physiological data and body function data ofthe training object, and provides the training object with differentrecommended training programs for different recovery stages, wherein thetraining program comprises duration of each training session, supportprovided by the device, the number of training sessions to be fulfilledper day, the interval between two successive training sessions andmileage for every training session.

The second part relates to real-time adjustment of the rehabilitationtraining program. Based on the data collected by the device's sensingunit, the recovery of the training object is monitored. If it is foundthat the training object exerts increasing force at his/her feet, thesupport to be provided by the saddle 13 or the handrail 12 is adjusted,and the support from the pedals is updated to training program for thetraining object. Likewise, the data-processing cloud terminal may updatethe data about duration of each training session, the number of trainingsessions to be fulfilled per day or the interval between two successivetraining sessions.

The third part involves using machine learning or the like to realizepersonalized training update. The data-processing cloud terminal keepsrehabilitation training statuses of different training objects. Afterrehabilitation training data are collected from a large group of people,machine learning algorithm is performed on the rehabilitation trainingdata of all training objects, and cluster analysis is carried out,wherein similarity measurement on which clustering is based isdetermined using variables such as patients' body height, body weight,age, training amount, and percentage of force exerted in every trainingsession. By clustering people with similarity, accurate personalizedrehabilitation training programs may be formulated for differenttraining objects. A personalized rehabilitation training program mayspecify duration of each training session, support provided by thedevice, the number of training sessions to be fulfilled per day, theinterval between two successive training sessions, and exercise mileagefor each session.

It should be noted that the above specific embodiments are exemplary,persons skilled in the art can devise various solutions under theinspiration of the disclosed content of the present invention, and thesolutions also belong to the disclosed scope of the present inventionand fall into the protection scope of the present invention. Personsskilled in the art shall understand that the specification and itsdrawings of the present invention are exemplary and do not limit theclaims. The protection scope of the present invention is limited by theclaims and its equivalents.

What is claimed is:
 1. A limb rehabilitation training system, comprisinga mechanical structure module and a function module, wherein themechanical structure module comprises a driving unit and a linkage unitarranged on a frame, wherein the function module at least comprises asensing unit, a mobile terminal and a data-processing cloud terminal;wherein the data-processing cloud terminal performs the first matchingbetween the data, at least comprising pressure data and/or time dataand/or travel data collected by the sensing unit, and expert data storedin the data-processing cloud terminal, and stores the results of thematching in the data-processing cloud terminal; and wherein thedata-processing cloud terminal performs the second matching between thepersonal information data of the training object collected by the mobileterminal and the results of the first matching, stores the results ofthe second matching in the data-processing cloud terminal, and sends theexpert data of the results of the second matching that at leastcomprises the duration of each training session and/or the number oftraining sessions per day and/or the training cycle and/or the exercisemileage and/or the support provided by the pedal as a recommendedrehabilitation training scheme to the mobile terminal.
 2. Therehabilitation training system of claim 1, wherein the first matching isthe correlation matching between the expert data stored in thedata-processing cloud terminal and the pressure data collected by thesensing unit and/or the correlation matching between the expert datastored in the data-processing cloud terminal and the time data collectedby the sensing unit, and/or the correlation matching between the expertdata stored in the data-processing cloud terminal and the travel datacollected by the sensing unit, and the results of the matching arestored in the data-processing cloud terminal.
 3. The rehabilitationtraining system of claim 1, wherein the second matching is the matchingbetween the results of the first matching stored in the data-processingcloud terminal and the personal information data comprising at least theage, the body height and the body weight of the training objectcollected by the mobile terminal, and the results of the second matchingare stored in the data-processing cloud terminal and sent to the mobileterminal as the recommended rehabilitation training scheme.
 4. Therehabilitation training system of claim 1, wherein the mobile terminalsends the pressure data, time data and travel data collected by thesensing unit to the data-processing cloud terminal for data update, anddisplays variation of the pressure data, time data, and travel data tothe training object by means of a list or a diagram.
 5. Therehabilitation training system of claim 1, wherein the data-processingcloud terminal prepares a new recommended rehabilitation training schemeaccording to the updated pressure data, time data and/or travel data. 6.The rehabilitation training system of claim 1, wherein the mobileterminal controls a motor (6) in the mechanical structure module of therehabilitation training system according to the recommendedrehabilitation training scheme it receives, and affects the exercisemileage of the training object by adjusting the speed of the motor (6);and wherein the mobile terminal displays recommendations about theduration of each training session, the number of training sessions perday, the training cycle, the exercise mileage and the support providedby the pedal in the recommended rehabilitation training scheme to thetraining object by means of voice or a list.
 7. The rehabilitationtraining system of claim 1, wherein the linkage unit has a linkmechanism and a slide mechanism linked thereto, so that the slidemechanism can be moved together with the link mechanism, the slidemechanism is driven by the driving unit to slide along a groove plate,and the link mechanism is linked to move together with the slidemechanism thus the link mechanism moves to a corresponding position, sothat the slide mechanism can assist a training object in performinglower limb rehabilitation training, and wherein the rehabilitationtraining system further comprises a rehabilitation evaluating unit whichevaluates the physical status and rehabilitation status of the trainingobject according to the physiological information and exerciseinformation of the same collected by the sensing unit, and adjusts theexercise frequency and exercise duration of the training objectaccording to the physical status in a real-time manner, wherein theexpert data comprise a rehabilitation training program associated withthe physiological data and/or body function data of the training object,wherein the physiological data comprise the basic data of the trainingobject such as body height, body weight and age, and the body functiondata comprise the support provided by the pedal, the exercise durationand the exercise mileage data for every exercise training course thetraining object has taken,
 8. The rehabilitation training system ofclaim 1, wherein the sensing unit comprises a pressure sensor, a timesensor, a velocity sensor, an amplification circuit, an A/D conversioncircuit and a single-chip microcomputer, wherein the signal datacollected by the pressure sensor, the time sensor and the velocitysensor is amplified by the amplification circuit and transmitted to thesingle-chip microcomputer through the A/D conversion circuit, and thesingle-chip microcomputer performs preliminary processing on the data.9. The rehabilitation training system of claim 1, wherein thedata-processing cloud terminal includes a data-processing unit and arehabilitation database, wherein the data-processing unit serves toperform correlation matching on the data, and the rehabilitationdatabase serves to store the data comprising the expert data, the datacollected by the sensing unit, the data collected by the mobile terminaland the data of matching results generated during the data matching. 10.The rehabilitation training system of claim 1, wherein the mechanicalstructure module at least comprises: a groove plate (2) for supporting acam, a pedal (8) for supporting the weight of the training object anddriving the lower limb of the training object to move, a link (9) fortransmitting kinetic energy to the pedal (8), a rocker (10) forsupporting the link (9), a connecting bulge (14) for driving a guideshaft (16) to rotate, a linear bearing (15) for supporting the guideshaft (16), the guide shaft (16) for driving a slider (17) to rotate,the slider (17) for driving the link (9) to operate, an axis pin (18)for connecting the link (9) and the slider (17), and a cam roller (19)for making the slider (17) move along a groove trajectory of the grooveplate (2); wherein the pedal (8) and the link (9) are rigidly connected,while the link (9) is hinged to the first rocker (10) and the axis pin(18) respectively, the rocker (10) is hinged to the frame (1), theconnecting bulge (14) is provided with two parallel columnar throughholes, the linear bearing (15) is received in the columnar through hole,the guide shaft (16) passes through the linear bearing (15), the guideshaft (16) and the slider (17) are rigidly connected to each other, andthe cam roller (19) is rigidly connected to the connecting bulge (17)through the axis pin (18); and the cam roller (19) performs curvedmovement along the groove plate (2), as the curvature radius changes,the guide shaft (16) performs linear movement with respect to theconnecting bulge (14), the linear bearing (15) is arranged in theconnecting bulge (14) for reducing mechanical wear between the guideshaft (16) and the connecting bulge (14), thereby improving the servicelife.
 11. A smart medical rehabilitation device, comprising a drivingunit, a linkage unit, a sensing unit and a rehabilitation evaluatingunit, wherein the driving unit and the linkage unit are arranged on aframe, wherein the linkage unit has a link mechanism and a slidemechanism linked thereto, so that the slide mechanism can be movedtogether with the link mechanism, the slide mechanism is driven by thedriving unit to slide along a groove plate, and the link mechanism islinked to move together with the slide mechanism thus the link mechanismmoves to a corresponding position, so that the slide mechanism canassist a training object in performing lower limb rehabilitationtraining, and the rehabilitation evaluating unit evaluates the physicalstatus and rehabilitation status of the training object according to thephysiological information and exercise information of the same collectedby the sensing unit, and adjusts the exercise frequency and exerciseduration of the training object according to the physical status in areal-time manner.
 12. The smart medical rehabilitation device of claim11, wherein the slide mechanism comprises a slider (17), a guide shaft(16), a connecting bulge (14) and the groove plate (2), wherein theconnecting bulge (14) is connected to the driving unit by means of asecondary chain drive mechanism (4) and is driven to rotate by thedriving unit, and at least two guide shafts (16) are arranged betweenthe slider (17) and the connecting bulge (14) for guiding the slider(17) to move along the groove plate (2).
 13. The smart medicalrehabilitation device of claim 12, wherein the link mechanism comprisesa rocker (10) and a link (9), wherein the link (9) is rotatablyconnected between the rocker (10) and the slider (17), the link (9) isshaped into a right trapezoid with a pedal (8) for the training objectto make trampling exercise, which pedal is arranged at two ends of thehypotenuse of the right trapezoid respectively, and wherein the slider(17) makes a pedal (8) assisting the training object in performing thelower limb rehabilitation training by driving one end of the link (9) tomove along the groove plate (2).
 14. The smart medical rehabilitationdevice of claim 13, wherein the connecting bulge (14) is provided with alinear bearing (15) at where it contacts at least one said guide shaft(16), and the guide shaft (16) performs linear movement with respect tothe connecting bulge (14) as the slider (17) moves along the grooveplate (2).
 15. The smart medical rehabilitation device of claim 14,wherein a fixing point of the pedal (8) is connected to two ends of thelink (9) through at least two connecting rods so as to form a stabletriangular structure; wherein a first connecting rod (EG) has its oneend rotatably connected to the link (9) and the rocker (10), and has itsopposite end connected to the fixing point of the pedal (8); a secondconnecting rod (DG) has its one end rotatably connected to the link (9)and the slider (17), and has its opposite end connected to the fixingpoint of the pedal (8); the first connecting rod (EG), the secondconnecting rod (DG) and the link (9) have a length ratio of about5.4:1.7:4.3; and the first connecting rod (EG) and the pedal (8) form anincluded angle of 85° in the projection plane, which plane isperpendicular to the panel of the pedal (8).
 16. The smart medicalrehabilitation device of claim 15, wherein said linkage units aresymmetrically arranged at two ends of the frame and connected to thedriving unit through the symmetrically arranged secondary chain drivemechanisms (4), and wherein a driving device (6) in the driving unitdrives a major shaft (7) whose gears at its two ends are connected tothe secondary chain drive mechanisms (4), respectively, to rotatethrough the primary chain drive mechanism (5), thereby making thelinkage units linked to move in the driving frequency of the drivingunit.
 17. The smart medical rehabilitation device of claim 16, whereinthe groove plate (2) is centrally provided with a minor shaft (21) thatpasses through the groove plate, wherein the minor shaft (21) has itsone end transmissively connected to the secondary chain drive mechanism(4), and has its opposite end connected to the connecting bulge (14), sothat the connecting bulge (14) can be driven by the secondary chaindrive mechanism (4) to rotate in the driving frequency.
 18. The smartmedical rehabilitation device of claim 11, wherein the sensing unitcollects the physiological information, lower limb exercise frequency,foot motion trajectory and exercise duration of the training object,wherein the rehabilitation evaluating unit evaluates the rehabilitationstatus of the training object according to the physiological informationand lower limb exercise frequency of the training object, and pressuredata of the pedal (8) from feet of the training object; and wherein therehabilitation evaluating unit adjusts the exercise frequency of thepedal (8) by adjusting the driving frequency of the driving unitaccording to the physiological information of the training object. 19.The smart medical rehabilitation device of claim 18, wherein the sensingunit at least comprises a location information sensor and a pressuresensor arranged on the pedal (8), and a physiological information sensorarranged around a handrail (12) on the frame.
 20. The smart medicalrehabilitation device of claim 18, wherein the rehabilitation evaluatingunit comprises a data-processing unit, an evaluating unit and a controlunit, wherein the data-processing unit screens valid data from exercisedata collected by the sensing unit, and sends the valid data to theevaluating unit, the evaluating unit evaluates the physiological statusand rehabilitation status of the training object based on the validdata, and the control unit adjusts the exercise frequency and exerciseduration of the training object based on the evaluation of theevaluating unit.